Nanomotion AB1A User manual

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Nanomotion Ltd. POB 223, Yokneam 20692, Israel
Tel: [phone] Fax: [phone]
Web Site: www.nanomotion.com
E-mail: [e-mail]
AB1A Driver Box
User Manual
September 2003
P/N: AB1A 458 000 D
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Nanomotion Ltd.
2
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Copyright
3
Copyright
This document contains proprietary information of Nanomotion Ltd., and Nanomotion Inc., and
may not be reproduced in any form without prior written consent from Nanomotion Ltd. and
Nanomotion Inc.
No part of this document may be reproduced, translated, stored in a retrieval system or
transmitted in any form and by any means, electronic, mechanical, photographic, photocopying,
recording, or otherwise, without the written permission of Nanomotion Ltd.
Information provided in this document is subject to change without notice and does not
represent a commitment on the part of Nanomotion Ltd.
Copyright June 2001, Yokneam, Israel. All rights reserved.
All products and company names are trademarks or registered trademarks of their respective
holders.
Limited Warranty
Nanomotion Ltd. (hereinafter NM) warrants the product (other than software) manufactured by it
to be free from defects in material and workmanship for a period of time of one year (except
those parts normally considered as consumable/expendable components such as motor
conditioning brushes). The warranty commences thirty (30) days from the date of shipment.
NM warrants those parts replaced under warranty for a period equal to the remaining warranty
coverage of the original part.
NM’s sole and exclusive obligation under this warranty provision shall be to repair, or at its sole
option exchange defective products or the relevant part or component, but only if: (i) the
Purchaser reports the defect to NM in writing and provides a description of the defective product
and complete information about the manner of its discovery within ten (10) days of its discovery;
(ii) NM has the opportunity to investigate the reported defect and determines that the defect
arises from faulty material, parts or workmanship; and (iii) the Purchaser returns the affected
product to a location designated by NM. These provisions constitute the exclusive remedy of
the Purchaser for product defects or any other claim of liability in connection with the purchase
or use of NM products.
This warranty policy applies only to NM products purchased directly from NM or from an
authorized NM distributor or representative.
This warranty shall not apply to (i) products repaired or altered by anyone other than those
authorized by NM; (ii) products subjected to negligence, accidents or damage by circumstances
beyond NM control; (iii) product subjected to improper operation or maintenance (i.e. operation
not in accordance with NM Installation Manuals and/or instructions) or for use other than the
original purpose for which the product was designed to be used.
NM shall not in any event have obligations or liabilities to the Purchaser or any other party for
loss of profits, loss of use or incidental, increased cost of operation or delays in operation,
special or consequential damages, whether based on contract, tort (including negligence), strict
liability, or any other theory or form of action, even if NM has been advised of the possibility
thereof, arising out of or in connection with the manufacture, sale, delivery, use, repair or
performance of the NM products. Without limiting the generality of the preceding sentence, NM
shall not be liable to the Purchaser for personal injury or property damages.
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CE Compliance
Nanomotion Ltd.
4
CE Compliance
This product has been tested for Electric Safety and Electromagnetic
Compatibility and found to be in compliance with the following
directives and standards:
EMC Council Directive 89/336/EEC
Safety Council Directive 73/23/EEC
EN 55011:1998 + A1:1999
EN 61000-6-2:1999
EN 61010-1:1993 + A2:1995
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Table of Contents
5
Table of Contents
1AB1A DESCRIPTION.................................................................................................... 9
1.1 General ............................................................................................................................ 9
1.2 Main Features .................................................................................................................. 9
1.3 Operating Principles....................................................................................................... 10
2CONNECTIONS AND I/O SETTINGS ......................................................................... 12
2.1 AB1A Front Panel .......................................................................................................... 12
2.1.1 Front Panel Connectors................................................................................................. 12
2.1.2 Front Panel Indicators.................................................................................................... 13
2.2 Motion Controller/Joystick Connection .......................................................................... 13
2.2.1 Differential Analog Connection ...................................................................................... 13
2.2.2 Joystick Connection....................................................................................................... 16
2.3 Cable Connections......................................................................................................... 17
2.3.1 Shielding ........................................................................................................................ 17
2.4 Motor Connections......................................................................................................... 17
2.4.1 Motor Cable Length ....................................................................................................... 17
2.5 Opto-isolated Inputs....................................................................................................... 18
2.5.1 Voltage Source Configuration........................................................................................ 19
2.6 Fault Output ................................................................................................................... 20
2.7 Before Operating the Motor ........................................................................................... 20
3AB1A OPERATION ..................................................................................................... 21
3.1 Operation Modes ........................................................................................................... 21
3.1.1 Velocity Mode Operation ............................................................................................... 21
3.1.2 Step Mode operation ..................................................................................................... 21
3.1.2.1 Enabling the Step Mode ................................................................................................ 21
3.1.3 Gate Mode Operation .................................................................................................... 21
3.1.3.1 Enabling the Gate Mode ................................................................................................ 22
3.2 Using the AB1A to Drive LS Motors .............................................................................. 22
4SPECIFICATIONS ....................................................................................................... 23
4.1 Parameters and Conditions ........................................................................................... 23
4.2 AB1A Layout .................................................................................................................. 25
4.3 AB1A Pin Arrangement.................................................................................................. 26
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List of Figures
Nanomotion Ltd.
6
List of Figures
Figure 1: AB1A Block Diagram ........................................................................................................10
Figure 2: Schematic Diagram of the Output Stage with an Internal LC Card ..................................11
Figure 3: AB1A Driver Box Front Panel ...........................................................................................12
Figure 4: Differential Analog Input Connection ................................................................................14
Figure 5: Non-Differential (single-ended) Analog Input Connection. ...............................................15
Figure 6: Joystick Connection ..........................................................................................................16
Figure 7: Opto-Isolated Input Interface ............................................................................................18
Figure 8: Jumper 1 Configuration.....................................................................................................19
Figure 9: AB1A Layout .....................................................................................................................25
List of Tables
Table 1: AB1A Power Consumption.................................................................................................23
Table 2: Electrical Specifications .....................................................................................................23
Table 3: Physical dimensions...........................................................................................................23
Table 4: Environmental Conditions ..................................................................................................24
Table 5: Analog Input Specifications................................................................................................24
Table 6: Control Terminal Pin Out....................................................................................................26
Table 7: Motor Output Port Pin Out..................................................................................................26
Table 8: I/O Connector Pin Out........................................................................................................27
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List of Abbreviations
7
List of Abbreviations
A Ampere
AC Alternating Current
DC Direct Current
LC Coil Capacitor Resonance Circuit
LED Light Emitting Diode
mA Milliampere
mW Milliwatt
TTL Transistor-Transistor Logic
Vrms Volts Root Mean Square
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New Edition Remarks
Nanomotion Ltd.
8
New Edition Notes:
This edition is released to reflect the following changes:
1. New mode of operation has been added to the driver: Gate
Mode (for more details see Section 3.1.3). This new feature
is available in drivers bearing serial numbers 4800 and
forward.
2. CE compliance section has been revised.
Other changes to the manual are primarily editorials, aiming to make the manual a
more user-friendly one.
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AB1A Description
General
9
1 AB1A Description
1.1 General
The AB1A is a single-axis Amplifier Box designed to drive up to 32 motor elements in
parallel.
The AB1A Card consists of DC/DC converters that provide the voltages necessary to
operate the amplifier circuit: +5V, ±12V, +3.3V. In addition, the card contains two LED
indicators and the external interface connectors for the INPUT, MOTOR, and I/O
signals.
The system configuration may require an LC Card that is connected either internally to
the AB1A Card, or externally in a separate LC Box. If the LC Card connection is
external, then it is required to connect an adapter card to the AB1A. The adapter card
shorts the necessary pins to enable the connection of the external LC Card.
1.2 Main Features
• High precision (11 bits) control of the power output stage
• Drives up to 32 Nanomotion motor elements in parallel
• Three modes of operation: Velocity Mode, Step Mode, and Gate Mode
• Interfaces with an Analog command
• Discrete inputs enable feedback from external sources, such as limit
switches, emergency stop command, etc.
• LED indicators
• Reduced sensitivity to cable length and capacitance
• Compact dimensions
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AB1A Description
Operating Principles
Nanomotion Ltd.
10
1.3 Operating Principles
The AB1A Driver Box comprises the AB1A main card and an LC card. The AB1A Card
converts the analog input command signal into a corresponding PWM square wave
output signal that is fed to the LC Card. The LC Card produces the sine wave output
voltage that drives the motor.
The LC Card type and configuration depends on the number of motor elements driven.
• For 1 to 16 elements, the LC circuit is internal to the AB1A
• For 32 elements, the LC circuit is external to the AB1A (LC Box)
An internal DC-to-DC converter that is fed from an external +48V power supply
supplies the required DC voltages.
Figure 1 illustrates a typical application of the AB1A Driver Box.
Figure 1: AB1A Block Diagram
The motor has three terminals: “UP” (red wire), “DOWN” (white wire) and “COMMON”
(black wire). The voltage applied between the “UP” and the “COMMON” terminals
causes the motor to move in one direction, while voltage applied between the “DOWN”
and the “COMMON” terminals causes the motor to move in the opposite direction.
Figure 2 is a schematic drawing of the power output.
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AB1A Driver Box User Manual
AB1A Description
11
+48
v
H-BRIDGE
DIRECTION
CONTROL NANOMOTION
MOTOR
COMMON
UP
DOWN
"Common"
"Phase"
"Up"
"Down"
LC Card
A
C output that drives
the motor
AB1A
PWM - Square wave on
the amplifier output
Figure 2: Schematic Diagram of the Output Stage with an Internal LC Card
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AB1A Driver Box User Manual
Connections and I/O Settings
12
2 Connections and I/O
Settings
2.1 AB1A Front Panel
All AB1A connectors and indicators are located on the front panel. There are
three connectors Control Terminal, I/O Port, and Motor Out, and two indicators.
Figure 3: AB1A Driver Box Front Panel
The detailed description of the AB1A connectors and indicators is given sections
2.1.1 and 2.1.2 below.
2.1.1 Front Panel Connectors
Connector Description
Control Terminal
5-pin connector that provides input from an external +48VDC
power supply (6.5A max). Provides direct control of the motor
ENABLE signal. See also Table 6
Motor Out D-type 9 pin connector male -Interfaces to the motor. See also
Table 7.
I/O Port D-type 25 pin connector female - Interfaces to the control source
(joystick or controller See also Table 8.
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AB1A Driver Box User Manual
Connections and I/O Settings
13
2.1.2 Front Panel Indicators
Condition Alarm 1 Alarm 2
VCC < 4.6V Off Off
Motor Disconnected Orange Off
Motor Disabled Off Orange
Motor connected and
enabled.
Green Off
Over-current Protection Red Red
2.2 Motion Controller/Joystick Connection
The AB1A Driver can receive the input signals either from a motion controller or
from a joystick. The schematic diagrams of the motion controller and joystick
connections are provided in the following sections.
NOTE:
The motor may be operated with minimum control signals applied
to the Control Terminal:
+48V,GND POWER, +VIN, -VIN, ENABLE_IN.
2.2.1 Differential Analog Connection
There are two options of connecting a motion controller to the AB1A Driver Box:
• Differential connection (see Figure 4)
• Single-Ended Connection (see Figure 5)
The differential connection enhances noise immunity.
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Connections and I/O Settings
Motion Controller/Joystick Connection
Nanomotion Ltd.
14
4
10
22
12
Emergency Stop
Left Limit
Right Limit
GND
24
3
14
ENABLE
D-TYPE 25 PIN MALE
FAULT
Vin-
Vin+ 1
InMode 16
15
GND
Amplifier
Circuit
LC
CIRCUIT
D-Type 9-pin Male
DC/DC
BLOCK TERMINAL MALE
D-TYPE 25 PIN FEMALE
2x LEDS
1
2
3
4
5
+48V
GND
ENABLE
Vin+
Vin-
DC
POWER
SUPPLY
PLANT
MODE
Vout+
Vout-
CONTROLLER
STATUS
ENABLE
Twisted and shielded cable
NANOMOTION
Motor
345162 7
UP
COM
DOWN
GND
M.DIS PHASE
GND
D-Type 9-pin Female
Shield
AB1A
Figure 4: Differential Analog Input Connection
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AB1A Driver Box User Manual
Connections and I/O Settings
15
4
10
22
12
Emergency Stop
Left Limit
Right Limit
GND
24
3
9
14
ENABLE
D-TYPE 25 PIN MALE
FAULT
GND
Vin-
Vin+ 1
InMode 16
15
GND
Amplifier
Circuit
LC
CIRCUIT
D-Type 9-pin Male
DC/DC
BLOCK TERMINAL MALE
D-TYPE 25 PIN FEMALE
2x LEDS
1
2
3
4
5
+48V
GND
ENABLE
Vin+
Vin-
DC
POWER
SUPPLY
PLANT
MODE
Vout+
Vout-
CONTROLLER
STATUS
ENABLE
Twisted and shielded cable
NANOMOTION
Motor
345162 7
UP
COM
DOWN
GND
M.DIS PHASE
GND
D-Type 9-pin Female
Shield GND
2
AB1A
Figure 5: Non-Differential (single-ended) Analog Input Connection.
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Connections and I/O Settings
Motion Controller/Joystick Connection
Nanomotion Ltd.
16
2.2.2 Joystick Connection
Using the joystick for supplying the command voltage to the AB1A Driver Box
allows the user to manually drive the motor without using a motion controller.
4
10
22
12
Emergency Stop
Left Limi
t
Right Limit
Gnd
24
3
9
11
Enable
D-TYPE 25 PIN
Faul
t
-12
V
+12V 23
InMode 16
15
GND
Amplifier
Card
LC
CIRCUIT
D-Type 9-pin Male
DC/DC
BLOCK TERMINAL MALE
D-TYPE 25 PIN
2
x
LEDS
1
2
3
45
+48
V
GND
ENABLE
Vin+
Vin-
DC
POWE
R
SUPPLY
PLANT
MODE
Vout+
JOYSTIC
K
Status
Twisted and shielded
GND
POTENSIOMETE
Vin+ 1
Shield
2
GND
Vin- 14
AB1A
NANOMOTION
MOTOR
3451627
UP
COM
DOWN
GND
M.DIS
PHASE
GND
D-Type 9-pin Female
Figure 6: Joystick Connection
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AB1A Driver Box User Manual
Connections and I/O Settings
17
2.3 Cable Connections
Connect the following groups of cables together, isolating each of the signals:
• POWER SUPPLIES – use 22 AWG (or lower AWG) wires for the
power supplies. For noisy surroundings, it is recommended to
twist the ground line and the power line together.
• ANALOG COMMAND – a twisted shielded cable is
recommended.
• DISCRETE INPUTS – These signals are not sensitive to noise
and can be grouped together in the same harness with any of
the other groups.
2.3.1 Shielding
Since the high motor voltage is induced on the cable shield, it is required to
ground connection the shield on both sides. Both the driver and the motor
should be grounded to the infrastructure earth.
2.4 Motor Connections
The “Motor Connected” signal is available only at the motor connector, where it
is shorted to ground. This ensures that unprotected motor pins will not be
exposed to high voltage when the motor is not connected.
If more than one motor is connected to the AB1A, use a suitable branch cable.
If the motor type or the number of motor elements is changed, consult
Nanomotion for the appropriate driver configuration changes that may be
required.
2.4.1 Motor Cable Length
The overall length of the cables that connect the AB1A Driver Box to the motor
elements should be in accordance with the following:
• Up to 2 motor elements – 5m
• 4 – 32 motor elements – 10m
NOTE:
Use Nanomotion standard cables. Branching is possible to 2 and 4
identical motors. Branch cables must be of identical length, the
sum of which not exceeding the allowed total cable length.
NOTE:
Nanomotion can guarantee proper driver and motor performance
only if Nanomotion standard cables are used.
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Connections and I/O Settings
Opto-isolated Inputs
Nanomotion Ltd.
18
2.5 Opto-isolated Inputs
The following inputs are opto-isolated and are activated by shorting them to
ground (see also Table 8):
• Powering Up/Down
♦ Enable: Enables the driver activation. Should be activated before the
motor is run
♦ Emergency Stop: Disables the AB1A output
• Mode Enabling
♦Step Mode: Enables Step Mode operation
• Direction Restrictions
♦ Left Switch: Disables motor motion to the left
♦ Right Switch: Disables motor motion to the right
To control
logic
VCC
AB1A
VCC
User Voltage
Command Input
390
Ω
JP1
1
Figure 7: Opto-Isolated Input Interface
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AB1A Driver Box User Manual
Connections and I/O Settings
19
2.5.1 Voltage Source Configuration
The opto-isolated input signals are activated as short-to-ground. The voltage for
the opto-isolated circuit (see Figure 7) is provided by either the internal +5V
supply (default setting) or an external voltage supply via pin 20 on the I/O Port
connector. The input to be activated should be shorted to external voltage
supply ground.
Configure jumper JP 1 (located near U1) on the AB1A card according to the
voltage source:
• Pin 1 shorted to Pin 2, for an internal +5V source (factory setting)
• Pin 2 shorted to Pin 3, for an external voltage source
ATTENTION:
Do not short Pin 1 to Pin 3 on JP2. Doing so shorts the external
power supply to the +5V supply! The input circuit is limited to sink
up to 10 mA but not less than 3 mA.
Internal voltage source External voltage source
Figure 8: Jumper 1 Configuration
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